Using two-dimensional camera images to speed registration of three-dimensional scans

ABSTRACT

A method for measuring and registering 3D coordinates has a 3D scanner measure a first collection of 3D coordinates of points from a first registration position and a second collection of 3D coordinates of points from a second registration position. In between these positions, the 3D scanner collects 2D camera images. A processor determines first and second translation values and a first rotation value based on the 2D camera images. The processor adjusts the second collection of points relative to the first collection of points based at least in part on the first and second translation values and the first rotation value. The processor identifies a correspondence among registration targets in the first and second collection of 3D coordinates, and uses this correspondence to further adjust the relative position and orientation of the first and second collection of 3D coordinates.

CROSS-REFERENCE TO RELATED APPLICATIONS

The present application claims the benefit of International PatentApplication No. PCT/IB2013/003082, filed Sep. 27, 2013, which claims thebenefit of German Patent Application No. 10 2012 109 481.0, filed Oct.5, 2012 and of U.S. Patent Application No. 61/716,845, filed Oct. 22,2012, the contents of all of which are incorporated by reference herein.

BACKGROUND OF THE INVENTION

U.S. Pat. No. 8,705,016 ('016) describes a laser scanner which, throughuse of a rotatable mirror, emits a light beam into its environment togenerate a three-dimensional (3D) scan. The contents of this patent areincorporated herein by reference.

The subject matter disclosed herein relates to use of a 3D laser scannertime-of-flight (TOF) coordinate measurement device. A 3D laser scannerof this type steers a beam of light to a non-cooperative target such asa diffusely scattering surface of an object. A distance meter in thedevice measures a distance to the object, and angular encoders measurethe angles of rotation of two axles in the device. The measured distanceand two angles enable a processor in the device to determine the 3Dcoordinates of the target.

A TOF laser scanner is a scanner in which the distance to a target pointis determined based on the speed of light in air between the scanner anda target point. Laser scanners are typically used for scanning closed oropen spaces such as interior areas of buildings, industrialinstallations and tunnels. They may be used, for example, in industrialapplications and accident reconstruction applications. A laser scanneroptically scans and measures objects in a volume around the scannerthrough the acquisition of data points representing object surfaceswithin the volume. Such data points are obtained by transmitting a beamof light onto the objects and collecting the reflected or scatteredlight to determine the distance, two-angles (i.e., an azimuth and azenith angle), and optionally a gray-scale value. This raw scan data iscollected, stored and sent to a processor or processors to generate a 3Dimage representing the scanned area or object.

Generating an image requires at least three values for each data point.These three values may include the distance and two angles, or may betransformed values, such as the x, y, z coordinates. In an embodiment,an image is also based on a fourth gray-scale value, which is a valuerelated to irradiance of scattered light returning to the scanner.

Most TOF scanners direct the beam of light within the measurement volumeby steering the light with a beam steering mechanism. The beam steeringmechanism includes a first motor that steers the beam of light about afirst axis by a first angle that is measured by a first angular encoder(or other angle transducer). The beam steering mechanism also includes asecond motor that steers the beam of light about a second axis by asecond angle that is measured by a second angular encoder (or otherangle transducer).

Many contemporary laser scanners include a camera mounted on the laserscanner for gathering camera digital images of the environment and forpresenting the camera digital images to an operator of the laserscanner. By viewing the camera images, the operator of the scanner candetermine the field of view of the measured volume and adjust settingson the laser scanner to measure over a larger or smaller region ofspace. In addition, the camera digital images may be transmitted to aprocessor to add color to the scanner image. To generate a color scannerimage, at least three positional coordinates (such as x, y, z) and threecolor values (such as red, green, blue “RGB”) are collected for eachdata point.

A 3D image of a scene may require multiple scans from differentregistration positions. The overlapping scans are registered in a jointcoordinate system, for example, as described in U.S. Published PatentApplication No. 2012/0069352 ('352), the contents of which areincorporated herein by reference. Such registration is performed bymatching targets in overlapping regions of the multiple scans. Thetargets may be artificial targets such as spheres or checkerboards orthey may be natural features such as corners or edges of walls. Someregistration procedures involve relatively time-consuming manualprocedures such as identifying by a user each target and matching thetargets obtained by the scanner in each of the different registrationpositions. Some registration procedures also require establishing anexternal “control network” of registration targets measured by anexternal device such as a total station. The registration methoddisclosed in '352 eliminates the need for user matching of registrationtargets and establishing of a control network.

However, even with the simplifications provided by the methods of '352,it is today still difficult to remove the need for a user to carry outthe manual registration steps as described above. In a typical case,only 30% of 3D scans can be automatically registered to scans taken fromother registration positions. Today such registration is seldom carriedout at the site of the 3D measurement but instead in an office followingthe scanning procedure. In a typical case, a project requiring a week ofscanning requires two to five days to manually register the multiplescans. This adds to the cost of the scanning project. Furthermore, themanual registration process sometimes reveals that the overlap betweenadjacent scans was insufficient to provide proper registration. In othercases, the manual registration process may reveal that certain sectionsof the scanning environment have been omitted. When such problems occur,the operator must return to the site to obtain additional scans. In somecases, it is not possible to return to a site. A building that wasavailable for scanning at one time may be impossible to access at alater time. A forensics scene of an automobile accident or a homicide isoften not available for taking of scans for more than a short time afterthe incident.

Accordingly, while existing 3D scanners are suitable for their intendedpurposes, what is needed is a 3D scanner having certain features ofembodiments of the present invention.

BRIEF DESCRIPTION OF THE INVENTION

According to one aspect of the invention, a three-dimensional (3D)measuring device is provided including: a processor system including atleast one of a 3D scanner controller, an external computer, and a cloudcomputer configured for remote network access; a 3D scanner having afirst light source, a first beam steering unit, a first angle measuringdevice, a second angle measuring device, and a first light receiver, thefirst light source configured to emit a first beam of light, the firstbeam steering unit configured to steer the first beam of light to afirst direction onto a first object point, the first directiondetermined by a first angle of rotation about a first axis and a secondangle of rotation about a second axis, the first angle measuring deviceconfigured to measure the first angle of rotation and the second anglemeasuring device configured to measure the second angle of rotation, thefirst light receiver configured to receive first reflected light, thefirst reflected light being a portion of the first beam of lightreflected by the first object point, the first light receiver configuredto produce a first electrical signal in response to the first reflectedlight, the first light receiver configured to cooperate with theprocessor system to determine a first distance to the first object pointbased at least in part on the first electrical signal, the 3D scannerconfigured to cooperate with the processor system to determine 3Dcoordinates of the first object point based at least in part on thefirst distance, the first angle of rotation and the second angle ofrotation; a moveable platform configured to carry the 3D scanner; acamera configured to move in conjunction with the 3D scanner; whereinthe processor system is responsive to executable instructions which whenexecuted by the processor system is operable to: cause the 3D scanner,while fixedly located at a first registration position, to cooperatewith the processor system to determine 3D coordinates of a firstcollection of points on an object surface; cause the 3D scanner, whilemoving from the first registration position to a second registrationposition, to cooperate with the processor system to obtain a pluralityof two-dimensional (2D) camera image sets, each of the plurality of 2Dcamera image sets being a set of 2D coordinates of points on the objectsurface, each of the plurality of 2D camera image sets being collectedby the 3D scanner at a different position relative to the firstregistration position; determine a first translation value correspondingto a first translation direction, a second translation valuecorresponding to a second translation direction, and a first rotationvalue corresponding to a first orientational axis, wherein the firsttranslation value, the second translation value, and the first rotationvalue are determined based at least in part on a fitting of theplurality of 2D camera image sets according to a first mathematicalcriterion; cause the 3D scanner, while fixedly located at the secondregistration position, to cooperate with the processor system todetermine 3D coordinates of a second collection of points on the objectsurface; identify a correspondence among registration targets present inboth the first collection of points and the second collection of points,the correspondence based at least in part on the first translationvalue, the second translation value, and the first rotation value; anddetermine 3D coordinates of a registered 3D collection of points basedat least in part on a second mathematical criterion, the determinedcorrespondence among the registration targets, the 3D coordinates of thefirst collection of points, and the 3D coordinates of the secondcollection of points.

In a further aspect of the invention, a method for measuring andregistering three-dimensional (3D) coordinates is provided including:providing a 3D measuring device that includes a processor system, a 3Dscanner, a camera, and a moveable platform, the processor system havingat least one of a 3D scanner controller, an external computer, and acloud computer configured for remote network access, the 3D scannerhaving a first light source, a first beam steering unit, a first anglemeasuring device, a second angle measuring device, and a first lightreceiver, the first light source configured to emit a first beam oflight, the first beam steering unit configured to steer the first beamof light to a first direction onto a first object point, the firstdirection determined by a first angle of rotation about a first axis anda second angle of rotation about a second axis, the first anglemeasuring device configured to measure the first angle of rotation andthe second angle measuring device configured to measure the second angleof rotation, the first light receiver configured to receive firstreflected light, the first reflected light being a portion of the firstbeam of light reflected by the first object point, the first lightreceiver configured to produce a first electrical signal in response tothe first reflected light, the first light receiver configured tocooperate with the processor system to determine a first distance to thefirst object point based at least in part on the first electricalsignal, the 3D scanner configured to cooperate with the processor systemto determine 3D coordinates of the first object point based at least inpart on the first distance, the first angle of rotation and the secondangle of rotation, the moveable platform configured to carry the 3Dscanner; determining with processor system, in cooperation with the 3Dscanner, 3D coordinates of a first collection of points on an objectsurface while the 3D scanner is fixedly located at a first registrationposition; obtaining by the 3D scanner in cooperation with the processorsystem a plurality of two-dimensional (2D) camera image sets, each ofthe plurality of 2D camera image sets being collected as the 2D cameramoves from the first registration position to a second registrationposition, each of the plurality of 2D camera image sets being collectedby the 3D scanner at a different position relative to the firstregistration position; determining by the processor system a firsttranslation value corresponding to a first translation direction, asecond translation value corresponding to a second translationdirection, and a first rotation value corresponding to a firstorientational axis, wherein the first translation value, the secondtranslation value, and the first rotation value are determined based atleast in part on a fitting of the plurality of 2D camera image setsaccording to a first mathematical criterion; determining with theprocessor system, in cooperation with the 3D scanner, 3D coordinates ofa second collection of points on the object surface while the 3D scanneris fixedly located at the second registration position; identifying bythe processor system a correspondence among registration targets presentin both the first collection of points and the second collection ofpoints, the correspondence based at least in part on the firsttranslation value, the second translation value, and the first rotationvalue; determining 3D coordinates of a registered 3D collection ofpoints based at least in part on a second mathematical criterion, thecorrespondence among registration targets, the 3D coordinates of thefirst collection of points, and the 3D coordinates of the secondcollection of points; and storing the 3D coordinates of the registered3D collection of points.

These and other advantages and features will become more apparent fromthe following description taken in conjunction with the drawings.

BRIEF DESCRIPTION OF THE DRAWING

The subject matter, which is regarded as the invention, is particularlypointed out and distinctly claimed in the claims at the conclusion ofthe specification. The foregoing and other features, and advantages ofthe invention are apparent from the following detailed description takenin conjunction with the accompanying drawings in which:

FIG. 1 is a perspective view of a laser scanner in accordance with anembodiment of the invention;

FIG. 2 is a side view of the laser scanner illustrating a method ofmeasurement according to an embodiment;

FIG. 3 is a schematic illustration of the optical, mechanical, andelectrical components of the laser scanner according to an embodiment;

FIG. 4 depicts a planar view of a 3D scanned image according to anembodiment;

FIG. 5 depicts an embodiment of a panoramic view of a 3D scanned imagegenerated by mapping a planar view onto a sphere according to anembodiment;

FIGS. 6A, 6B and 6C depict embodiments of a 3D view of a 3D scannedimage according to an embodiment;

FIG. 7 depicts an embodiment of a 3D view made up of an image of theobject of FIG. 6B but viewed from a different perspective and shown onlypartially, according to an embodiment;

FIG. 8A is a perspective view of a 3D measuring device according to anembodiment;

FIG. 8B is a front view of a camera used to collect 2D camera image datawhile the 3D measuring device moves along a horizontal plane accordingto an embodiment;

FIG. 9 is a block diagram depicting a processor system according to anembodiment;

FIG. 10 is a schematic representation of a 3D scanner measuring anobject from two registration positions according to an embodiment;

FIG. 11 is a schematic representation of a 2D camera capturing 2D cameraimages at a plurality of intermediate positions as the 3D measuringdevice is moved along a horizontal plane, according to an embodiment;

FIG. 12 shows the 2D camera capturing 2D camera images at a plurality ofintermediate positions as the 3D measuring device is moved along ahorizontal plane, according to an embodiment;

FIG. 13 shows the 2D camera capturing 2D camera images at a plurality ofintermediate positions as the 3D measuring device is moved along ahorizontal plane, according to an embodiment;

FIGS. 14A, 14B and 14C illustrate a method for finding changes in theposition and orientation of the 3D scanner over time according to anembodiment; and

FIG. 15 includes steps in a method for measuring and registering 3Dcoordinates with a 3D measuring device according to an embodiment.

The detailed description explains embodiments of the invention, togetherwith advantages and features, by way of example with reference to thedrawings.

DETAILED DESCRIPTION OF THE INVENTION

The present invention relates to a 3D measuring device having a 3Dscanner and a two-dimensional (2D) camera. The camera may be an integralpart of the 3D scanner or a separate camera unit. The 3D measuringdevice is used in two modes, a first mode in which the 3D scannerobtains 3D coordinates of an object surface over a 3D region of spaceand a second mode in which camera images are obtained as the camera ismoved between positions at which 3D scans are taken. The 2D cameraimages are used together with the 3D scan data from the 3D scanner toprovide automatic registration of the 3D scans.

Referring now to FIGS. 1-3, a laser scanner 20 is shown for opticallyscanning and measuring the environment surrounding the laser scanner 20.The laser scanner 20 has a measuring head 22 and a base 24. Themeasuring head 22 is mounted on the base 24 such that the laser scanner20 may be rotated about a vertical axis 23. In one embodiment, themeasuring head 22 includes a gimbal point 27 that is a center ofrotation about the vertical axis 23 and a horizontal axis 25. Themeasuring head 22 has a rotary mirror 26, which may be rotated about thehorizontal axis 25. The rotation about the vertical axis may be aboutthe center of the base 24. The terms vertical axis and horizontal axisrefer to the scanner in its normal upright position. It is possible tooperate a 3D coordinate measurement device on its side or upside down,and so to avoid confusion, the terms azimuth axis and zenith axis may besubstituted for the terms vertical axis and horizontal axis,respectively. The term pan axis or standing axis may also be used as analternative to vertical axis.

The measuring head 22 is further provided with an electromagneticradiation emitter, such as light emitter 28, for example, that emits anemitted light beam 30. In one embodiment, the emitted light beam 30 is acoherent light beam such as a laser beam. The laser beam may have awavelength range of approximately 300 to 1600 nanometers, for example790 nanometers, 905 nanometers, 1550 nm, or less than 400 nanometers. Itshould be appreciated that other electromagnetic radiation beams havinggreater or smaller wavelengths may also be used. The emitted light beam30 is amplitude or intensity modulated, for example, with a sinusoidalwaveform or with a rectangular waveform. The emitted light beam 30 isemitted by the light emitter 28 onto the rotary mirror 26, where it isdeflected to the environment. A reflected light beam 32 is reflectedfrom the environment by an object 34. The reflected or scattered lightis intercepted by the rotary mirror 26 and directed into a lightreceiver 36. The directions of the emitted light beam 30 and thereflected light beam 32 result from the angular positions of the rotarymirror 26 and the measuring head 22 about the axes 25 and 23,respectively. These angular positions in turn depend on thecorresponding rotary drives or motors.

Coupled to the light emitter 28 and the light receiver 36 is acontroller 38. The controller 38 determines, for a multitude ofmeasuring points X, a corresponding number of distances d between thelaser scanner 20 and the points X on object 34. The distance to aparticular point X is determined based at least in part on the speed oflight in air through which electromagnetic radiation propagates from thedevice to the object point X. In one embodiment the phase shift ofmodulation in light emitted by the laser scanner 20 and the point X isdetermined and evaluated to obtain a measured distance d.

The speed of light in air depends on the properties of the air such asthe air temperature, barometric pressure, relative humidity, andconcentration of carbon dioxide. Such air properties influence the indexof refraction n of the air. The speed of light in air is equal to thespeed of light in vacuum c divided by the index of refraction. In otherwords, c_(air)=c/n. A laser scanner of the type discussed herein isbased on the time-of-flight (TOF) of the light in the air (theround-trip time for the light to travel from the device to the objectand back to the device). Examples of TOF scanners include scanners thatmeasure round trip time using the time interval between emitted andreturning pulses (pulsed TOF scanners), scanners that modulate lightsinusoidally and measure phase shift of the returning light (phase-basedscanners), as well as many other types. A method of measuring distancebased on the time-of-flight of light depends on the speed of light inair and is therefore easily distinguished from methods of measuringdistance based on triangulation. Triangulation-based methods involveprojecting light from a light source along a particular direction andthen intercepting the light on a camera pixel along a particulardirection. By knowing the distance between the camera and the projectorand by matching a projected angle with a received angle, the method oftriangulation enables the distance to the object to be determined basedon one known length and two known angles of a triangle. The method oftriangulation, therefore, does not directly depend on the speed of lightin air.

In one mode of operation, the scanning of the volume around the laserscanner 20 takes place by rotating the rotary mirror 26 relativelyquickly about axis 25 while rotating the measuring head 22 relativelyslowly about axis 23, thereby moving the assembly in a spiral pattern.In an exemplary embodiment, the rotary mirror rotates at a maximum speedof 5820 revolutions per minute. For such a scan, the gimbal point 27defines the origin of the local stationary reference system. The base 24rests in this local stationary reference system.

In addition to measuring a distance d from the gimbal point 27 to anobject point X, the scanner 20 may also collect gray-scale informationrelated to the received optical power (equivalent to the term“brightness.”) The gray-scale value may be determined at least in part,for example, by integration of the bandpass-filtered and amplifiedsignal in the light receiver 36 over a measuring period attributed tothe object point X.

The measuring head 22 may include a display device 40 integrated intothe laser scanner 20. The display device 40 may include a graphicaltouch screen 41, as shown in FIG. 1, which allows the operator to setthe parameters or initiate the operation of the laser scanner 20. Forexample, the screen 41 may have a user interface that allows theoperator to provide measurement instructions to the device, and thescreen may also display measurement results.

The laser scanner 20 includes a carrying structure 42 that provides aframe for the measuring head 22 and a platform for attaching thecomponents of the laser scanner 20. In one embodiment, the carryingstructure 42 is made from a metal such as aluminum. The carryingstructure 42 includes a traverse member 44 having a pair of walls 46, 48on opposing ends. The walls 46, 48 are parallel to each other and extendin a direction opposite the base 24. Shells 50, 52 are coupled to thewalls 46, 48 and cover the components of the laser scanner 20. In theexemplary embodiment, the shells 50, 52 are made from a plasticmaterial, such as polycarbonate or polyethylene for example. The shells50, 52 cooperate with the walls 46, 48 to form a housing for the laserscanner 20.

On an end of the shells 50, 52 opposite the walls 46, 48 a pair of yokes54, 56 are arranged to partially cover the respective shells 50, 52. Inthe exemplary embodiment, the yokes 54, 56 are made from a suitablydurable material, such as aluminum for example, that assists inprotecting the shells 50, 52 during transport and operation. The yokes54, 56 each includes a first arm portion 58 that is coupled, such aswith a fastener for example, to the traverse 44 adjacent the base 24.The arm portion 58 for each yoke 54, 56 extends from the traverse 44obliquely to an outer corner of the respective shell 50, 54. From theouter corner of the shell, the yokes 54, 56 extend along the side edgeof the shell to an opposite outer corner of the shell. Each yoke 54, 56further includes a second arm portion that extends obliquely to thewalls 46, 48. It should be appreciated that the yokes 54, 56 may becoupled to the traverse 42, the walls 46, 48 and the shells 50, 54 atmultiple locations.

The pair of yokes 54, 56 cooperate to circumscribe a convex space withinwhich the two shells 50, 52 are arranged. In the exemplary embodiment,the yokes 54, 56 cooperate to cover all of the outer edges of the shells50, 54, while the top and bottom arm portions project over at least aportion of the top and bottom edges of the shells 50, 52. This providesadvantages in protecting the shells 50, 52 and the measuring head 22from damage during transportation and operation. In other embodiments,the yokes 54, 56 may include additional features, such as handles tofacilitate the carrying of the laser scanner 20 or attachment points foraccessories for example.

On top of the traverse 44, a prism 60 is provided. The prism extendsparallel to the walls 46, 48. In the exemplary embodiment, the prism 60is integrally formed as part of the carrying structure 42. In otherembodiments, the prism 60 is a separate component that is coupled to thetraverse 44. When the mirror 26 rotates, during each rotation the mirror26 directs the emitted light beam 30 onto the traverse 44 and the prism60. Due to non-linearities in the electronic components, for example inthe light receiver 36, the measured distances d may depend on signalstrength, which may be measured in optical power entering the scanner oroptical power entering optical detectors within the light receiver 36,for example. In an embodiment, a distance correction is stored in thescanner as a function (possibly a nonlinear function) of distance to ameasured point and optical power (generally unscaled quantity of lightpower sometimes referred to as “brightness”) returned from the measuredpoint and sent to an optical detector in the light receiver 36. Sincethe prism 60 is at a known distance from the gimbal point 27, themeasured optical power level of light reflected by the prism 60 may beused to correct distance measurements for other measured points, therebyallowing for compensation to correct for the effects of environmentalvariables such as temperature. In the exemplary embodiment, theresulting correction of distance is performed by the controller 38.

In an embodiment, the base 24 is coupled to a swivel assembly (notshown) such as that described in commonly owned U.S. Pat. No. 8,705,012('012), which is incorporated by reference herein. The swivel assemblyis housed within the carrying structure 42 and includes a motor that isconfigured to rotate the measuring head 22 about the axis 23.

An auxiliary image acquisition device 66 may be a device that capturesand measures a parameter associated with the scanned volume or thescanned object and provides a signal representing the measuredquantities over an image acquisition area. The auxiliary imageacquisition device 66 may be, but is not limited to, a pyrometer, athermal imager, an ionizing radiation detector, or a millimeter-wavedetector. In an embodiment, the auxiliary image acquisition device 66 isa color camera.

In an embodiment, a central color camera (first image acquisitiondevice) 112 is located internally to the scanner and may have the sameoptical axis as the 3D scanner device. In this embodiment, the firstimage acquisition device 112 is integrated into the measuring head 22and arranged to acquire images along the same optical pathway as emittedlight beam 30 and reflected light beam 32. In this embodiment, the lightfrom the light emitter 28 reflects off a fixed mirror 116 and travels todichroic beam-splitter 118 that reflects the light 117 from the lightemitter 28 onto the rotary mirror 26. The dichroic beam-splitter 118allows light to pass through at wavelengths different than thewavelength of light 117. For example, the light emitter 28 may be a nearinfrared laser light (for example, light at wavelengths of 780 nm or1150 nm), with the dichroic beam-splitter 118 configured to reflect theinfrared laser light while allowing visible light (e.g., wavelengths of400 to 700 nm) to transmit through. In other embodiments, thedetermination of whether the light passes through the beam-splitter 118or is reflected depends on the polarization of the light. The digitalcamera 112 obtains 2D images of the scanned area to capture color datato add to the scanned image. In the case of a built-in color camerahaving an optical axis coincident with that of the 3D scanning device,the direction of the camera view may be easily obtained by simplyadjusting the steering mechanisms of the scanner—for example, byadjusting the azimuth angle about the axis 23 and by steering the mirror26 about the axis 25.

FIG. 4 depicts an example of a planar view of a 3D scanned image 400.The planar view depicted in FIG. 4 maps an image based on direct mappingof data collected by the scanner. The scanner collects data in aspherical pattern but with data points collected near the poles moretightly compressed than those collected nearer the horizon. In otherwords, each point collected near a pole represents a smaller solid anglethan does each point collected nearer the horizon. Since data from thescanner may be directly represented in rows and column, data in a planarimage is conveniently presented in a rectilinear format, as shown inFIG. 4. With planar mapping described above, straight lines appear to becurved, as for example the straight fence railings 420 that appearcurved in the planar view of the 3D image. The planar view may be a 3Dunprocessed scanned image displaying just the gray-scale values receivedfrom the distance sensor arranged in columns and rows as they wererecorded. In addition, the 3D unprocessed scanned image of the planarview may be in full resolution or reduced resolution depending on systemcharacteristics (e.g., display device, storage, processor). The planarview may be a 3D processed scanned image that depicts either gray-scalevalues (resulting from the light irradiance measured by the distancesensor for each pixel) or color values (resulting from camera imageswhich have been mapped onto the scan). Although the planar viewextracted from the 3D scanner is ordinarily a gray-scale or color image,FIG. 4 is shown as a line drawing for clarity in document reproduction.The user interface associated with the display unit, which may beintegral to the laser scanner, may provide a point selection mechanism,which in FIG. 4 is the cursor 410. The point selection mechanism may beused to reveal dimensional information about the volume of space beingmeasured by the laser scanner. In FIG. 4, the row and column at thelocation of the cursor are indicated on the display at 430. The twomeasured angles and one measured distance (the 3D coordinates in aspherical coordinate system) at the cursor location are indicated on thedisplay at 440. Cartesian XYZ coordinate representations of the cursorlocation are indicated on the display at 450.

FIG. 5 depicts an example of a panoramic view of a 3D scanned image 600generated by mapping a planar view onto a sphere, or in some cases acylinder. A panoramic view can be a 3D processed scanned image (such asthat shown in FIG. 5) in which 3D information (e.g., 3D coordinates) isavailable. The panoramic view may be in full resolution or reducedresolution depending on system characteristics. It should be pointed outthat an image such as FIG. 5 is a 2D image that represents a 3D scenewhen viewed from a particular perspective. In this sense, the image ofFIG. 5 is much like an image that might be captured by a 2D camera or ahuman eye. Although the panoramic view extracted from the 3D scanner isordinarily a gray-scale or color image, FIG. 5 is shown as a linedrawing for clarity in document reproduction.

The term panoramic view refers to a display in which angular movement isgenerally possible about a point in space, but translational movement isnot possible (for a single panoramic image). In contrast, the term 3Dview as used herein refers to generally refers to a display in whichprovision is made (through user controls) to enable not only rotationabout a fixed point but also translational movement from point to pointin space.

FIGS. 6A, 6B and 6C depict an example of a 3D view of a 3D scannedimage. In the 3D view a user can leave the origin of the scan and seethe scan points from different viewpoints and angles. The 3D view is anexample of a 3D processed scanned image. The 3D view may be in fullresolution or reduced resolution depending on system characteristics. Inaddition, the 3D view allows multiple registered scans to be displayedin one view. FIG. 6A is a 3D view 710 over which a selection mask 730has been placed by a user. FIG. 6B is a 3D view 740 in which only thatpart of the 3D view 710 covered by the selection mask 730 has beenretained. FIG. 6C shows the same 3D measurement data as in FIG. 6Bexcept as rotated to obtain a different view. FIG. 7 shows a differentview of FIG. 6B, the view in this instance being obtained from atranslation and rotation of the observer viewpoint, as well as areduction in observed area. Although the 3D views extracted from the 3Dscanner are ordinarily a gray-scale or color image, FIGS. 6A-C and 7 areshown as line drawings for clarity in document reproduction.

FIGS. 8A, 8B and 9 show an embodiment of a 3D measuring device 800 thatincludes a 3D scanner 20, a processor system 950, an optional moveableplatform 820, and a 2D camera, which may be a camera 112 internal to the3D scanner (as shown in FIG. 3), a camera 70 mounted on the 3D scanner(as shown in FIG. 1), or a camera 840 mounted on the optional moveableplatform 820. The 3D measuring device 800 may be a 3D TOF scanner 20 asdescribed in reference to FIG. 1. For the case in which a camera 840 isattached to the moveable platform 820, the attachment may be made at thebase of the moveable platform or to an upper portion of the moveableplatform, for example to tripod legs.

The processor system 950 includes one or more processing elements thatmay include a 3D scanner processor (controller) 38, an external computer970, and a cloud computer 980. The processors may be microprocessors,field programmable gate arrays (FPGAs), digital signal processors(DSPs), and generally any device capable of performing computingfunctions. The one or more processors have access to memory for storinginformation. In an embodiment illustrated in FIG. 9, the controller 38represents one or more processors distributed throughout the 3D scanner.Also included in the embodiment of FIG. 9 are an external computer 970and one or more cloud computers 980 for remote computing capability. Inan alternative embodiment, only one or two of the processors 38, 970,and 980 is provided in the processor system. Communication among theprocessors may be through wired links, wireless links, or a combinationof wired and wireless links. In an embodiment, scan results are uploadedafter each scanning session to the cloud (remote network) for storageand future use. For the case in which a camera 840 is attached to themoveable platform 820, the camera data may be sent to the processorsystem through wired or wireless communication channels.

In one mode of operation of the 3D measuring device 800, the camera(112, 70 or 840) captures overlapping 2D camera images as the 3Dmeasuring device is moved between positions at which 3D scans are taken.For the case in which the camera is an internal camera (such as thecentral color camera 112) or a camera 70 mounted on the measuring head22, the camera may be optionally steered about the vertical axis 23 toincrease the effective FOV of the camera. In an embodiment, the laserpower is turned off as the 2D camera images are collected. In analternative embodiment, the laser power is left on so that the 3Dscanner may make 2D scans in a horizontal plane while the 2D cameraimages are collected. For the case in which the 2D camera 840 is mountedon the moveable platform 820, the direction at which the camera ispointed is unaffected by rotation of horizontal axis 25 or vertical axis23.

The optional position/orientation sensor 920 in the 3D scanner 20 mayinclude inclinometers (accelerometers), gyroscopes, magnetometers, andaltimeters. Usually devices that include one or more of an inclinometerand gyroscope are referred to as an inertial measurement unit (IMU). Insome cases, the term IMU is used in a broader sense to include a varietyof additional devices that indicate position and/or orientation—forexample, magnetometers that indicate heading based on changes inmagnetic field direction relative to the earth's magnetic north andaltimeters that indicate altitude (height). An example of a widely usedaltimeter is a pressure sensor. By combining readings from a combinationof position/orientation sensors with a fusion algorithm that may includea Kalman filter, relatively accurate position and orientationmeasurements can be obtained using relatively low-cost sensor devices.

The optional moveable platform 820 enables the 3D measuring device 20 tobe moved from place to place, typically along a floor that isapproximately horizontal. In an embodiment, the optional moveableplatform 820 is a tripod that includes wheels 822. In an embodiment, thewheels 822 may be locked in place using wheel brakes 824. In anotherembodiment, the wheels 822 are retractable, enabling the tripod to sitstably on three feet attached to the tripod. In another embodiment, thetripod has no wheels but is simply pushed or pulled along a surface thatis approximately horizontal, for example, a floor. In anotherembodiment, the optional moveable platform 820 is a wheeled cart thatmay be hand pushed/pulled or motorized.

FIG. 10 shows the 3D measuring device 800 moved to a first registrationposition 1112 in front of an object 1102 that is to be measured. Theobject 1102 might for example be a wall in a room. In an embodiment, the3D measuring device 800 is brought to a stop and is held in place withbrakes, which in an embodiment are brakes 824 on wheels 822. The 3Dscanner 20 in the 3D measuring device 800 takes a first 3D scan of theobject 1102. In an embodiment, the 3D scanner 20 may if desired obtain3D measurements in all directions except in downward directions blockedby the structure of the 3D measuring device 800. However, in the exampleof FIG. 10, in which 3D scanner 20 measures a long, mostly flatstructure 1102, a smaller effective FOV 1130 may be selected to providea more face-on view of features on the structure.

When the first 3D scan is completed, the processor system 950 causes the3D measuring device 800 to change from 3D scanning mode to a 2D cameraimaging mode. The 2D camera imaging data is sent from the camera (112,70 or 840) to the processor system 950 for mathematical analysis. In anembodiment, the scanner begins collecting camera imaging data as the 3Dscanning stops. In another embodiment, the collection of camera imagingdata starts when the processor receives a signal such as a signal formthe position/orientation sensor 920, a signal from a brake releasesensor, or a signal sent in response to a command from an operator. Theprocessor system 950 may cause camera imaging data to be collected whenthe 3D measuring device 800 starts to move, or it may cause cameraimaging data to be continually collected, even when the 3D measuringdevice 800 is stationary.

In an embodiment, the camera imaging data is collected as the 3Dmeasuring device 800 is moved toward the second registration position1114. In an embodiment, the camera imaging data is collected andprocessed as the 3D scanner 20 passes through a plurality of 2Dmeasuring positions 1120. At each measuring position 1120, the cameracollects camera imaging data over an effective FOV 1140. Using methodsdescribed in more detail below, the processor system 950 uses the cameraimaging data from a plurality of camera images at positions 1120 todetermine a position and orientation of the 3D scanner 20 at the secondregistration position 1114 relative to the first registration position1112, where the first registration position and the second registrationposition are known in a 3D coordinate system common to both. In anembodiment, the common coordinate system is represented by 2D Cartesiancoordinates x, y and by an angle of rotation θ relative to the x or yaxis. In an embodiment, the x and y axes lie in the horizontal x-y planeof the 3D scanner 20 and may be further based on a direction of a“front” of the 3D scanner 20. An example of such an (x, y, θ) coordinatesystem is the coordinate system 1410 of FIG. 14A.

On the object 1102, there is a region of overlap 1150 between the first3D scan (collected at the first registration position 1112) and thesecond 3D scan (collected at the second registration position 1114). Inthe overlap region 1150 there are registration targets (which may benatural features of the object 1102) that are seen in both the first 3Dscan and the second 3D scan. A problem that often occurs in practice isthat, in moving the 3D scanner 20 from the first registration position1112 to the second registration position 1114, the processor system 950loses track of the position and orientation of the 3D scanner 20 andhence is unable to correctly associate the registration targets in theoverlap regions to enable the registration procedure to be performedreliably. By using the succession of camera images, the processor system950 is able to determine the position and orientation of the 3D scanner20 at the second registration position 1114 relative to the firstregistration position 1112. This information enables the processorsystem 950 to correctly match registration targets in the region ofoverlap 1150, thereby enabling the registration procedure to be properlycompleted.

FIG. 12 shows the 3D scanner 20 collecting camera imaging data atselected positions 1120 over an effective FOV 1140. At differentpositions 1120, the camera captures a portion of the object 1102 markedA, B, C, D, and E. FIG. 12 shows 2D camera moving in time relative to afixed frame of reference of the object 1102.

FIG. 13 includes the same information as FIG. 12 but shows it from theframe of reference of the 3D scanner 20 while collecting camera imagesrather than the frame of reference of the object 1102. This figure makesclear that in the scanner frame of reference, the position of featureson the object change over time. Hence it is clear that the distancetraveled by the 3D scanner 20 between registration position 1 andregistration position 2 can be determined from the camera imaging datasent from the camera to the processor system 950.

FIG. 14A shows a coordinate system that may be used in FIGS. 14B and14C. In an embodiment, the 2D coordinates x and y are selected to lie ona plane parallel to the horizontal plane of movement of the moveableplatform. The angle θ is selected as a rotation angle in the plane, therotation angle relative to an axis such as x or y. FIGS. 14B, 14Crepresent a realistic case in which the 3D scanner 20 is moved notexactly on a straight line, for example, nominally parallel to theobject 1102, but also to the side. Furthermore, the 3D scanner 20 may berotated as it is moved.

FIG. 14B shows the movement of the object 1102 as seen from the frame ofreference of the 3D scanner 20 in traveling from the first registrationposition to the second registration position. In the scanner frame ofreference (that is, as seen from the scanner's point of view), theobject 1102 is moving while the camera is fixed in place. In this frameof reference, the portions of the object 1102 seen by the camera appearto translate and rotate in time. The camera provides a succession ofsuch translated and rotated 2D camera images to the processor system950. In the example shown in FIGS. 14A, B, the scanner translates in the+y direction by a distance 1420 shown in FIG. 14B and rotates by anangle 1430, which in this example is +5 degrees. Of course, the scannercould equally well have moved in the +x or −x direction by a smallamount. To determine the movement of the camera in the x, y, θdirections, the processor system 950 uses the data recorded insuccessive camera images as seen in the frame of reference of thescanner 20, as shown in FIG. 14B. In an embodiment, the processor system950 performs a best-fit calculation using methods well known in the artto match the two scans or features in the two scans as closely aspossible.

As the 3D scanner 20 collects successive 2D camera images and performsbest-fit calculations, the processor system 950 keeps track of thetranslation and rotation of the 3D scanner 20. In this way, theprocessor system 950 is able to accurately determine the change in thevalues of x, y, θ as the measuring device 800 moves from the firstregistration position 1112 to the second registration position 1114.

It is important to understand that the processor system 950 determinesthe position and orientation of the 3D measuring device 800 based on acomparison of the succession of 2D camera images and not on fusion ofthe camera imaging data with 3D scan data provided by the 3D scanner 20at the first registration position 1112 or the second registrationposition 1114.

Instead, the processor system 950 is configured to determine a firsttranslation value, a second translation value, and a first rotationvalue that, when applied to a combination of the first 2D camera imagedata and second 2D camera image data, results in transformed first 2Ddata that matches transformed second 2D data as closely as possibleaccording to an objective mathematical criterion. In general, thetranslation and rotation may be applied to the first scan data, thesecond scan data, or to a combination of the two. For example, atranslation applied to the first data set is equivalent to a negative ofthe translation applied to the second data set in the sense that bothactions produce the same match in the transformed data sets. An exampleof an “objective mathematical criterion” is that of minimizing the sumof squared residual errors for those portions of the scan data judged tooverlap. Another type of objective mathematical criterion may involve amatching of multiple features identified on the object. For example,such features might be the edge transitions 1103, 1104, and 1105 shownin FIG. 11B.

A mathematical method known in the art to evaluate camera imagescollected sequentially as overlapping images to extract information onmovement is “optical flow.” This method is adapted from the studies ofAmerican psychologist James Gibson in the 1940s. A tutorial on opticalflow estimation as used today is given in “Mathematical Models inComputer Vision: The Handbook” by N. Paragios, Y. Chen, and O. Faugeras(editors), Chapter 15, Springer 2005, pp. 239-258, the contents of whichare incorporated by reference herein. Additional mathematical methodsknown in the art may also be used to extract information on movementfrom the sequential 2D camera images.

The mathematical criterion may involve processing of the raw cameraimage data provided by the camera to the processor system 950, or it mayinvolve a first intermediate level of processing in which features arerepresented as a collection of line segments using methods that areknown in the art, for example, methods based on the Iterative ClosestPoint (ICP). Such a method based on ICP is described in Censi, A., “AnICP variant using a point-to-line metric,” IEEE International Conferenceon Robotics and Automation (ICRA) 2008.

In an embodiment, the first translation value is dx, the secondtranslation value is dy, and the first rotation value dθ. If first 2Dcamera image data has translational and rotational coordinates (in areference coordinate system) of (x₁, y₁, θ₁), then the second 2D cameraimage data collected at a second location has coordinates given by (x₂,y₂, 0₂)=(x₁+dx, y₁+dy, 0₁+d0). In an embodiment, the processor system950 is further configured to determine a third translation value (forexample, dz) and a second and third rotation values (for example, pitchand roll). The third translation value, second rotation value, and thirdrotation value may be determined based at least in part on readings fromthe position/orientation sensor 920.

The 3D scanner 20 collects 2D camera image data at the firstregistration position 1112 and more 2D camera image data at the secondregistration position 1114. In some cases, these 2D camera images maysuffice to determine the position and orientation of the 3D measuringdevice at the second registration position 1114 relative to the firstregistration position 1112. In other cases, the two sets of 2D cameraimage data are not sufficient to enable the processor system 950 toaccurately determine the first translation value, the second translationvalue, and the first rotation value. This problem may be avoided bycollecting 2D camera image data at intermediate locations 1120. In anembodiment, the 2D camera image data is collected and processed atregular intervals, for example, once per second. In this way, featuresare easily identified in successive 2D camera images 1120. If more thantwo 2D camera images are obtained, the processor system 950 may chooseto use the information from all the successive 2D camera images indetermining the translation and rotation values in moving from the firstregistration position 1112 to the second registration position 1114.Alternatively, the processor may choose to use only the first and last2D camera images in the final calculation, simply using the intermediate2D camera images to ensure proper correspondence of matching features.In most cases, accuracy of matching is improved by incorporatinginformation from multiple successive 2D camera images.

The 3D measuring device 800 is moved to the second registration position1114. In an embodiment, the 3D measuring device 800 is brought to a stopand brakes are locked to hold the 3D scanner stationary. In analternative embodiment, the processor system 950 starts the 3D scanautomatically when the moveable platform is brought to a stop, forexample, by the position/orientation sensor 920 noting the lack ofmovement. The 3D scanner 20 in the 3D measuring device 800 takes a 3Dscan of the object 1102. This 3D scan is referred to as the second 3Dscan to distinguish it from the first 3D scan taken at the firstregistration position.

The processor system 950 applies the already calculated firsttranslation value, the second translation value, and the first rotationvalue to adjust the position and orientation of the second 3D scanrelative to the first 3D scan. This adjustment, which may be consideredto provide a “first alignment,” brings the registration targets (whichmay be natural features in the overlap region 1150) into closeproximity. The processor system 950 performs a fine registration inwhich it makes fine adjustments to the six degrees of freedom of thesecond 3D scan relative to the first 3D scan. It makes the fineadjustment based on an objective mathematical criterion, which may bethe same as or different than the mathematical criterion applied to the2D camera image data. For example, the objective mathematical criterionmay be that of minimizing the sum of squared residual errors for thoseportions of the scan data judged to overlap. Alternatively, theobjective mathematical criterion may be applied to a plurality offeatures in the overlap region. The mathematical calculations in theregistration may be applied to raw 3D scan data or to geometricalrepresentations of the 3D scan data, for example, by a collection ofline segments.

Outside the overlap region 1150, the aligned values of the first 3D scanand the second 3D scan are combined in a registered 3D data set. Insidethe overlap region, the 3D scan values included in the registered 3Ddata set are based on some combination of 3D scanner data from thealigned values of the first 3D scan and the second 3D scan.

FIG. 15 shows elements of a method 1500 for measuring and registering 3Dcoordinates.

An element 1505 includes providing a 3D measuring device that includes aprocessor system, a 3D scanner, a camera, and a moveable platform. Theprocessor system has at least one of a 3D scanner controller, anexternal computer, and a cloud computer configured for remote networkaccess. Any of these processing elements within the processor system mayinclude a single processor or multiple distributed processing elements,the processing elements being a microprocessor, digital signalprocessor, FPGA, or any other type of computing device. The processingelements have access to computer memory. The 3D scanner has a firstlight source, a first beam steering unit, a first angle measuringdevice, a second angle measuring device, and a first light receiver. Thefirst light source is configured to emit a first beam of light, which inan embodiment is a beam of laser light. The first beam steering unit isprovided to steer the first beam of light to a first direction onto afirst object point. The beam steering unit may be a rotating mirror suchas the mirror 26 or it may be another type of beam steering mechanism.For example, the 3D scanner may contain a base onto which is placed afirst structure that rotates about a vertical axis, and onto thisstructure may be placed a second structure that rotates about ahorizontal axis. With this type of mechanical assembly, the beam oflight may be emitted directly from the second structure and point in adesired direction. Many other types of beam steering mechanisms arepossible. In most cases, a beam steering mechanism includes one or twomotors. The first direction is determined by a first angle of rotationabout a first axis and a second angle of rotation about a second axis.The first angle measuring device is configured to measure the firstangle of rotation and the second angle measuring device configured tomeasure the second angle of rotation. The first light receiver isconfigured to receive first reflected light, the first reflected lightbeing a portion of the first beam of light reflected by the first objectpoint. The first light receiver is further configured to produce a firstelectrical signal in response to the first reflected light. The firstlight receiver is further configured to cooperate with the processorsystem to determine a first distance to the first object point based atleast in part on the first electrical signal, and the 3D scanner isconfigured to cooperate with the processor system to determine 3Dcoordinates of the first object point based at least in part on thefirst distance, the first angle of rotation and the second angle ofrotation. The moveable platform is configured to carry the 3D scanner.The camera is configured to obtain 2D camera images and to send theimage data to the processor system 950. The camera may be locatedinternal to the 3D scanner, mounted on the 3D scanner, or attached tothe moveable platform.

An element 1510 includes determining with processor system, incooperation with the 3D scanner, 3D coordinates of a first collection ofpoints on an object surface while the 3D scanner is fixedly located at afirst registration position.

An element 1515 includes obtaining by the 3D scanner in cooperation withthe processor system a plurality of 2D camera image sets. Each of theplurality of 2D camera image sets is a set of 2D coordinates of pointson the object surface collected as the 3D scanner moves from the firstregistration position to a second registration position. Each of theplurality of 2D camera image sets is collected by the 2D camera at adifferent position relative to the first registration position.

An element 1520 includes determining by the processor system a firsttranslation value corresponding to a first translation direction, asecond translation value corresponding to a second translationdirection, and a first rotation value corresponding to a firstorientational axis, wherein the first translation value, the secondtranslation value, and the first rotation value are determined based atleast in part on a fitting of the plurality of 2D camera image setsaccording to a first mathematical criterion. In an embodiment, the firstorientation axis is a vertical axis perpendicular to the planes in whichthe 2D camera image sets are collected.

An element 1525 includes determining with the processor system, incooperation with the 3D scanner, 3D coordinates of a second collectionof points on the object surface while the 3D scanner is fixedly locatedat the second registration position.

An element 1535 includes identifying by the processor system acorrespondence among registration targets present in both the firstcollection of points and the second collection of points, thecorrespondence based at least in part on the first translation value,the second translation value, and the first rotation value.

An element 1545 includes determining 3D coordinates of a registered 3Dcollection of points based at least in part on a second mathematicalcriterion, the correspondence among registration targets, the 3Dcoordinates of the first collection of points, and the 3D coordinates ofthe second collection of points. An element 1550 includes storing the 3Dcoordinates of the registered 3D collection of points.

Terms such as processor, controller, computer, DSP, FPGA are understoodin this document to mean a computing device that may be located withinan instrument, distributed in multiple elements throughout aninstrument, or placed external to an instrument.

While the invention has been described in detail in connection with onlya limited number of embodiments, it should be readily understood thatthe invention is not limited to such disclosed embodiments. Rather, theinvention can be modified to incorporate any number of variations,alterations, substitutions or equivalent arrangements not heretoforedescribed, but which are commensurate with the spirit and scope of theinvention. Additionally, while various embodiments of the invention havebeen described, it is to be understood that aspects of the invention mayinclude only some of the described embodiments. Accordingly, theinvention is not to be seen as limited by the foregoing description, butis only limited by the scope of the appended claims.

What is claimed is:
 1. A three-dimensional (3D) measuring devicecomprising: a processor system including at least one of a 3D scannercontroller, an external computer, and a cloud computer configured forremote network access; a 3D scanner having a first light source, a firstbeam steering unit, a first angle measuring device, a second anglemeasuring device, and a first light receiver, the first light sourceconfigured to emit a first beam of light, the first beam steering unitconfigured to steer the first beam of light to a first direction onto afirst object point, the first direction determined by a first angle ofrotation about a first axis and a second angle of rotation about asecond axis, the first angle measuring device configured to measure thefirst angle of rotation and the second angle measuring device configuredto measure the second angle of rotation, the first light receiverconfigured to receive first reflected light, the first reflected lightbeing a portion of the first beam of light reflected by the first objectpoint, the first light receiver configured to produce a first electricalsignal in response to the first reflected light, the first lightreceiver configured to cooperate with the processor system to determinea first distance to the first object point based at least in part on thefirst electrical signal, the 3D scanner configured to cooperate with theprocessor system to determine 3D coordinates of the first object pointbased at least in part on the first distance, the first angle ofrotation and the second angle of rotation; a moveable platformconfigured to carry the 3D scanner; a camera configured to move inconjunction with the 3D scanner; wherein the processor system isresponsive to executable instructions which when executed by theprocessor system is operable to: cause the 3D scanner, while fixedlylocated at a first registration position, to cooperate with theprocessor system to determine 3D coordinates of a first collection ofpoints on an object surface; cause the 3D scanner, while moving from thefirst registration position to a second registration position, tocooperate with the processor system to obtain a plurality of 2D cameraimage sets, each of the plurality of 2D camera image sets being a set of2D coordinates of points on the object surface, each of the plurality of2D camera image sets being collected by the 3D scanner at a differentposition relative to the first registration position; determine a firsttranslation value corresponding to a first translation direction, asecond translation value corresponding to a second translationdirection, and a first rotation value corresponding to a firstorientational axis, wherein the first translation value, the secondtranslation value, and the first rotation value are determined based atleast in part on a fitting of the plurality of 2D camera image setsaccording to a first mathematical criterion; cause the 3D scanner, whilefixedly located at the second registration position, to cooperate withthe processor system to determine 3D coordinates of a second collectionof points on the object surface; identify a correspondence amongregistration targets present in both the first collection of points andthe second collection of points, the correspondence based at least inpart on the first translation value, the second translation value, andthe first rotation value; and determine 3D coordinates of a registered3D collection of points based at least in part on a second mathematicalcriterion, the determined correspondence among the registration targets,the 3D coordinates of the first collection of points, and the 3Dcoordinates of the second collection of points.
 2. The 3D measuringdevice of claim 1 wherein the 2D camera further includes aposition/orientation sensor, the position orientation sensor includes atleast one sensor selected from the group consisting of an inclinometer,a gyroscope, a magnetometer, and an altimeter.
 3. The 3D measuringdevice of claim 1 wherein the moveable platform is a tripod havingwheels and a brake.
 4. The 3D measuring device of claim 1 wherein thefirst beam steering unit includes a first mirror configured to rotateabout a horizontal axis and a carriage that holds the first mirrorconfigured to rotate about a vertical axis, the rotation about thehorizontal axis being driven by a first motor and the rotation about thevertical axis being driven by a second motor.
 5. The 3D measuring deviceof claim 1 wherein the processor is further configured to respond to astopping signal to cause the 3D scanner, while fixedly located at thesecond registration position, to automatically begin cooperating withthe processor system to determine 3D coordinates of a second collectionof points on the object surface.
 6. The 3D measuring device of claim 5wherein the stopping signal is generated in response to a signalreceived by the processor system from the position/orientation sensor.7. The 3D measuring device of claim 1, wherein the registration targetsare natural features of the object surface.
 8. The 3D measuring deviceof claim 1, wherein the camera is selected from the group consisting ofa 2D camera internal to the 3D scanner, a 2D camera mounted on the 3Dscanner, and a 2D camera mounted on the moveable platform.
 9. A methodfor measuring and registering three-dimensional (3D) coordinatescomprising: providing a 3D measuring device that includes a processorsystem, a 3D scanner, a camera, and a moveable platform, the processorsystem having at least one of a 3D scanner controller, an externalcomputer, and a cloud computer configured for remote network access, the3D scanner having a first light source, a first beam steering unit, afirst angle measuring device, a second angle measuring device, and afirst light receiver, the first light source configured to emit a firstbeam of light, the first beam steering unit configured to steer thefirst beam of light to a first direction onto a first object point, thefirst direction determined by a first angle of rotation about a firstaxis and a second angle of rotation about a second axis, the first anglemeasuring device configured to measure the first angle of rotation andthe second angle measuring device configured to measure the second angleof rotation, the first light receiver configured to receive firstreflected light, the first reflected light being a portion of the firstbeam of light reflected by the first object point, the first lightreceiver configured to produce a first electrical signal in response tothe first reflected light, the first light receiver configured tocooperate with the processor system to determine a first distance to thefirst object point based at least in part on the first electricalsignal, the 3D scanner configured to cooperate with the processor systemto determine 3D coordinates of the first object point based at least inpart on the first distance, the first angle of rotation and the secondangle of rotation, the moveable platform configured to carry the 3Dscanner; determining with processor system, in cooperation with the 3Dscanner, 3D coordinates of a first collection of points on an objectsurface while the 3D scanner is fixedly located at a first registrationposition; obtaining by the 3D scanner in cooperation with the processorsystem a plurality of 2D camera image sets, each of the plurality of 2Dcamera image sets being collected as the 2D camera moves from the firstregistration position to a second registration position, each of theplurality of 2D camera image sets being collected by the 3D scanner at adifferent position relative to the first registration position;determining by the processor system a first translation valuecorresponding to a first translation direction, a second translationvalue corresponding to a second translation direction, and a firstrotation value corresponding to a first orientational axis, wherein thefirst translation value, the second translation value, and the firstrotation value are determined based at least in part on a fitting of theplurality of 2D camera image sets according to a first mathematicalcriterion; determining with the processor system, in cooperation withthe 3D scanner, 3D coordinates of a second collection of points on theobject surface while the 3D scanner is fixedly located at the secondregistration position; identifying by the processor system acorrespondence among registration targets present in both the firstcollection of points and the second collection of points, thecorrespondence based at least in part on the first translation value,the second translation value, and the first rotation value; determining3D coordinates of a registered 3D collection of points based at least inpart on a second mathematical criterion, the correspondence amongregistration targets, the 3D coordinates of the first collection ofpoints, and the 3D coordinates of the second collection of points; andstoring the 3D coordinates of the registered 3D collection of points.10. The method of claim 9 wherein, in the element of providing a 3Dmeasuring device that includes a processor system, a 3D scanner, acamera, and a moveable platform, the 3D measuring device furtherincludes a position/orientation sensor, the position orientation sensorincluding at least one sensor selected from the group consisting of aninclinometer, a gyroscope, a magnetometer, and an altimeter.
 11. Themethod of claim 9 wherein, in the element of providing a 3D measuringdevice that includes a processor system, a 3D scanner, a camera, and amoveable platform, the moveable platform is a tripod having wheels and abrake.
 12. The method of claim 9 wherein, in the element of providing a3D measuring device that includes a processor system, a 3D scanner, acamera, and a moveable platform, the first beam steering unit includes afirst mirror configured to rotate about a horizontal axis and a carriagethat holds the first mirror, the carriage configured to rotate about avertical axis, the rotation about the horizontal axis being driven by afirst motor and the rotation about the vertical axis being driven by asecond motor.
 13. The method of claim 12 wherein, in the element ofobtaining by the 3D scanner in cooperation with the processor system aplurality of 2D camera image sets, the first mirror is held fixed andthe second mirror is held fixed.
 14. The method of claim 12 wherein, inthe element of obtaining by the 3D scanner in cooperation with theprocessor system a plurality of 2D camera image sets, the first mirrorrotates about the vertical axis while the horizontal axis is held fixed.15. The method of claim 9 wherein in the element of determining with theprocessor system, in cooperation with the 3D scanner, 3D coordinates ofa second collection of points on the object, the processor is furtherconfigured to respond to a stopping signal to cause the 3D scanner toautomatically start measurement of the second collection of points. 16.The method of claim 15 wherein in the element of determining with theprocessor system, in cooperation with the 3D scanner, 3D coordinates ofa second collection of points on the object, the stopping signal isgenerated in response to a signal received by the processor system fromthe position/orientation sensor.